42 citations · 49 across the 8 of their papers we have counts for
5 papers · 1 filter
NavCMPO: Critic-Guided MeanFlow Policy Optimization for Adaptive Navigation
Junjie An, Yi Wu, Xiao Liu +5
End-to-end diffusion-based policies have demonstrated strong performance in mapless visual navigation, but their iterative denoising process introduces substantial inference latenc…
SoftNav: Injecting 3D Scene Tokens into VLMs for Embodied Navigation
Yi Wu, Junjie An, Xiao Liu +6
In goal-directed embodied navigation, where an agent must locate a specified target in an unseen environment, 3D scene understanding and navigation reasoning must work in concert.…
Adaptive Model Prediction Control-Based Multi-Terrain Trajectory Tracking Framework for Mobile Spherical Robots
Yifan Liu, Tao Hu, Xiaoqing Guan +4
Owing to uncertainties in both kinematics and dynamics, the current trajectory tracking framework for mobile robots like spherical robots cannot function effectively on multiple te…
An MPC-based Optimal Motion Control Framework for Pendulum-driven Spherical Robots
Tao Hu, Xiaoqing Guan, Yixu Wang +5
Motion control is essential for all autonomous mobile robots, and even more so for spherical robots. Due to the uniqueness of the spherical robot, its motion control must not only…
Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller
Yifan Liu, Yixu Wang, Xiaoqing Guan +6
Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new di…